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This is how I warm up for most exercises. I take these percentages based on what weights I'll be using that day. It doesn't really matter what sets and reps, I just need the number. So if I wanted to bench press 3 sets 5 reps w/ 200, my warm up sets would look like:

50% of 200 x5
60%x3
70%x2
80%x1
90%x1
95%x1 this is optional sometimes I skip this part and jump straight to my sets based on my feeling that day

It also depends on how you feel. Some times, my normal warm up doesn't feel like it's enough, so I'll do more. Otherwise, something like MPB said. This will change for you as the weights get heavier, as well.

I just hop on the treadmill for a few minutes then do a few dynamic movements(hip swings, arm circles, mountainclimbers, etc.) to get the blood going and everything lose. Then i'll do gradual warmup sets of the specific exercise like the posts above, increase weight as reps decrease.

"Fine, if I'm not allowed to light it on fire, can my imaginary friend?"